Gal3 IMU EKF Trajectory Analysis

Dataset: MH01 | Sampling Rate: 200 Hz

Interactive visualization of ground truth vs. GAL3 predictions across multiple preintegration times

3-D Trajectory Visualization

Legend: Ground Truth (dotted), GAL3 0.2s (solid red), GAL3 0.5s (dashed orange), GAL3 1.0s (dotted purple)

Position Time Series

X, Y, Z position components over time at 200 Hz sampling rate

⚡ Velocity Time Series

Velocity components (Vx, Vy, Vz) showing dynamic motion characteristics

Orientation Time Series

Roll, Pitch, Yaw angles in degrees

Acceleration Time Series

Accelerometer measurements (Ax, Ay, Az) in m/s²

Displacement Time Series

Incremental position changes (ΔX, ΔY, ΔZ) between consecutive time steps